/* dual-frequency iono-free measurements -------------------------------------*/
static int ifmeas(const obsd_t *obs, const nav_t *nav, const double *azel,
const prcopt_t *opt, const double *dantr, const double *dants,
double phw, double *meas, double *var)
{
const double *lam=nav->lam[obs->sat-1];
double c1,c2,L1,L2,P1,P2,P1_C1,P2_C2,gamma;
int i=0,j=1,k;
trace(4,"ifmeas :\n");
/* L1-L2 for GPS/GLO/QZS, L1-L5 for GAL/SBS */
if (NFREQ>=3&&(satsys(obs->sat,NULL)&(SYS_GAL|SYS_SBS))) j=2;
if (NFREQ<2||lam[i]==0.0||lam[j]==0.0) return 0;
/* test snr mask */
if (testsnr(0,i,azel[1],obs->SNR[i]*0.25,&opt->snrmask)||
testsnr(0,j,azel[1],obs->SNR[j]*0.25,&opt->snrmask)) {
return 0;
}
gamma=SQR(lam[j])/SQR(lam[i]); /* f1^2/f2^2 */
c1=gamma/(gamma-1.0); /* f1^2/(f1^2-f2^2) */
c2=-1.0 /(gamma-1.0); /* -f2^2/(f1^2-f2^2) */
L1=obs->L[i]*lam[i]; /* cycle -> m */
L2=obs->L[j]*lam[j];
P1=obs->P[i];
P2=obs->P[j];
P1_C1=nav->cbias[obs->sat-1][1];
P2_C2=nav->cbias[obs->sat-1][2];
if (opt->sateph==EPHOPT_LEX) {
P1_C1=nav->lexeph[obs->sat-1].isc[0]*CLIGHT; /* ISC_L1C/A */
}
if (L1==0.0||L2==0.0||P1==0.0||P2==0.0) return 0;
/* iono-free phase with windup correction */
meas[0]=c1*L1+c2*L2-(c1*lam[i]+c2*lam[j])*phw;
/* iono-free code with dcb correction */
if (obs->code[i]==CODE_L1C) P1+=P1_C1; /* C1->P1 */
if (obs->code[j]==CODE_L2C) P2+=P2_C2; /* C2->P2 */
meas[1]=c1*P1+c2*P2;
var[1]=SQR(ERR_CBIAS);
if (opt->sateph==EPHOPT_SBAS) meas[1]-=P1_C1; /* sbas clock based C1 */
/* gps-glonass h/w bias correction for code */
if (opt->exterr.ena[3]&&satsys(obs->sat,NULL)==SYS_GLO) {
meas[1]+=c1*opt->exterr.gpsglob[0]+c2*opt->exterr.gpsglob[1];
}
/* antenna phase center variation correction */
for (k=0;k<2;k++) {
if (dants) meas[k]-=c1*dants[i]+c2*dants[j];
if (dantr) meas[k]-=c1*dantr[i]+c2*dantr[j];
}
return 1;
}
/* satellite clock with broadcast ephemeris ----------------------------------*/
static int ephclk(gtime_t time, gtime_t teph, int sat, const nav_t *nav,
double *dts)
{
eph_t *eph;
geph_t *geph;
seph_t *seph;
int sys;
trace(4,"ephclk : time=%s sat=%2d\n",time_str(time,3),sat);
sys=satsys(sat,NULL);
if (sys==SYS_GPS||sys==SYS_GAL||sys==SYS_QZS||sys==SYS_CMP) {
if (!(eph=seleph(teph,sat,-1,nav))) return 0;
*dts=eph2clk(time,eph);
}
else if (sys==SYS_GLO) {
if (!(geph=selgeph(teph,sat,-1,nav))) return 0;
*dts=geph2clk(time,geph);
}
else if (sys==SYS_SBS) {
if (!(seph=selseph(teph,sat,nav))) return 0;
*dts=seph2clk(time,seph);
}
else return 0;
return 1;
}
/* select ephememeris --------------------------------------------------------*/
static eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav)
{
double t,tmax,tmin;
int i,j=-1;
trace(4,"seleph : time=%s sat=%2d iode=%d\n",time_str(time,3),sat,iode);
switch (satsys(sat,NULL)) {
case SYS_QZS: tmax=MAXDTOE_QZS+1.0; break;
case SYS_GAL: tmax=MAXDTOE_GAL+1.0; break;
case SYS_CMP: tmax=MAXDTOE_CMP+1.0; break;
default: tmax=MAXDTOE+1.0; break;
}
tmin=tmax+1.0;
for (i=0;i<nav->n;i++) {
if (nav->eph[i].sat!=sat) continue;
if (iode>=0&&nav->eph[i].iode!=iode) continue;
if ((t=fabs(timediff(nav->eph[i].toe,time)))>tmax) continue;
if (iode>=0) return nav->eph+i;
if (t<=tmin) {j=i; tmin=t;} /* toe closest to time */
}
if (iode>=0||j<0) {
trace(2,"no broadcast ephemeris: %s sat=%2d iode=%3d\n",time_str(time,0),
sat,iode);
return NULL;
}
return nav->eph+j;
}
/* almanac to satellite position and clock bias --------------------------------
* compute satellite position and clock bias with almanac (gps, galileo, qzss)
* args : gtime_t time I time (gpst)
* alm_t *alm I almanac
* double *rs O satellite position (ecef) {x,y,z} (m)
* double *dts O satellite clock bias (s)
* return : none
* notes : see ref [1],[7],[8]
*-----------------------------------------------------------------------------*/
extern void alm2pos(gtime_t time, const alm_t *alm, double *rs, double *dts)
{
double tk,M,E,Ek,sinE,cosE,u,r,i,O,x,y,sinO,cosO,cosi,mu;
trace(4,"alm2pos : time=%s sat=%2d\n",time_str(time,3),alm->sat);
tk=timediff(time,alm->toa);
if (alm->A<=0.0) {
rs[0]=rs[1]=rs[2]=*dts=0.0;
return;
}
mu=satsys(alm->sat,NULL)==SYS_GAL?MU_GAL:MU_GPS;
M=alm->M0+sqrt(mu/(alm->A*alm->A*alm->A))*tk;
for (E=M,sinE=Ek=0.0;fabs(E-Ek)>1E-12;) {
Ek=E; sinE=sin(Ek); E=M+alm->e*sinE;
}
cosE=cos(E);
u=atan2(sqrt(1.0-alm->e*alm->e)*sinE,cosE-alm->e)+alm->omg;
r=alm->A*(1.0-alm->e*cosE);
i=alm->i0;
O=alm->OMG0+(alm->OMGd-OMGE)*tk-OMGE*alm->toas;
x=r*cos(u); y=r*sin(u); sinO=sin(O); cosO=cos(O); cosi=cos(i);
rs[0]=x*cosO-y*cosi*sinO;
rs[1]=x*sinO+y*cosi*cosO;
rs[2]=y*sin(i);
*dts=alm->f0+alm->f1*tk;
}
/* decode skytraq subframe buffer --------------------------------------------*/
static int decode_stqsfrb(raw_t *raw)
{
int prn,sat,sys,id;
unsigned char *p=raw->buff+4;
trace(4,"decode_stqsfrb: len=%d\n",raw->len);
if (raw->len<40) {
trace(2,"stq subframe length error: len=%d\n",raw->len);
return -1;
}
prn=U1(p+1);
if (prn>MAXPRNGPS) prn+=MINPRNSBS-38;
if (!(sat=satno(MINPRNSBS<=prn?SYS_SBS:SYS_GPS,prn))) {
trace(2,"stq subframe satellite number error: prn=%d\n",prn);
return -1;
}
sys=satsys(sat,&prn);
if (sys==SYS_GPS) {
id=save_subfrm(sat,raw);
if (id==3) return decode_ephem(sat,raw);
if (id==4) return decode_alm1 (sat,raw);
if (id==5) return decode_alm2 (sat,raw);
return 0;
}
return 0;
}
/* process positioning -------------------------------------------------------*/
static void procpos(FILE *fp, const prcopt_t *popt, const solopt_t *sopt,
int mode)
{
gtime_t time={0};
sol_t sol={{0}};
rtk_t rtk;
obsd_t obs[MAXOBS];
double rb[3]={0};
int i,nobs,n,solstatic,pri[]={0,1,2,3,4,5,1,6};
trace(3,"procpos : mode=%d\n",mode);
solstatic=sopt->solstatic&&
(popt->mode==PMODE_STATIC||popt->mode==PMODE_PPP_STATIC);
rtkinit(&rtk,popt);
rtcm_path[0]='\0';
while ((nobs=inputobs(obs,rtk.sol.stat,popt))>=0) {
/* exclude satellites */
for (i=n=0;i<nobs;i++) {
if ((satsys(obs[i].sat,NULL)&popt->navsys)&&
popt->exsats[obs[i].sat-1]!=1) obs[n++]=obs[i];
}
if (n<=0) continue;
if (!rtkpos(&rtk,obs,n,&navs)) continue;
if (mode==0) { /* forward/backward */
if (!solstatic) {
outsol(fp,&rtk.sol,rtk.rb,sopt);
}
else if (time.time==0||pri[rtk.sol.stat]<=pri[sol.stat]) {
sol=rtk.sol;
for (i=0;i<3;i++) rb[i]=rtk.rb[i];
if (time.time==0||timediff(rtk.sol.time,time)<0.0) {
time=rtk.sol.time;
}
}
}
else if (!revs) { /* combined-forward */
if (isolf>=nepoch) return;
solf[isolf]=rtk.sol;
for (i=0;i<3;i++) rbf[i+isolf*3]=rtk.rb[i];
isolf++;
}
else { /* combined-backward */
if (isolb>=nepoch) return;
solb[isolb]=rtk.sol;
for (i=0;i<3;i++) rbb[i+isolb*3]=rtk.rb[i];
isolb++;
}
}
if (mode==0&&solstatic&&time.time!=0.0) {
sol.time=time;
outsol(fp,&sol,rb,sopt);
}
rtkfree(&rtk);
}
/* decode ublox rxm-sfrb: subframe buffer ------------------------------------*/
static int decode_rxmsfrb(raw_t *raw)
{
unsigned int words[10];
int i,prn,sat,sys,id;
unsigned char *p=raw->buff+6;
trace(4,"decode_rxmsfrb: len=%d\n",raw->len);
if (raw->len<42) {
trace(2,"ubx rxmsfrb length error: len=%d\n",raw->len);
return -1;
}
prn=U1(p+1);
if (!(sat=satno(MINPRNSBS<=prn?SYS_SBS:SYS_GPS,prn))) {
trace(2,"ubx rxmsfrb satellite number error: prn=%d\n",prn);
return -1;
}
sys=satsys(sat,&prn);
if (sys==SYS_GPS) {
id=save_subfrm(sat,raw);
if (id==3) return decode_ephem(sat,raw);
if (id==4) return decode_alm1 (sat,raw);
if (id==5) return decode_alm2 (sat,raw);
return 0;
}
else if (sys==SYS_SBS) {
for (i=0,p+=2;i<10;i++,p+=4) words[i]=U4(p);
return sbsdecodemsg(raw->time,prn,words,&raw->sbsmsg)?3:0;
}
return 0;
}
/* average of single position ------------------------------------------------*/
static int avepos(double *ra, int rcv, const obs_t *obs, const nav_t *nav,
const prcopt_t *opt)
{
obsd_t data[MAXOBS];
gtime_t ts={0};
sol_t sol={{0}};
int i,j,n=0,m,iobs;
char msg[128];
trace(3,"avepos: rcv=%d obs.n=%d\n",rcv,obs->n);
for (i=0;i<3;i++) ra[i]=0.0;
for (iobs=0;(m=nextobsf(obs,&iobs,rcv))>0;iobs+=m) {
for (i=j=0;i<m&&i<MAXOBS;i++) {
data[j]=obs->data[iobs+i];
if ((satsys(data[j].sat,NULL)&opt->navsys)&&
opt->exsats[data[j].sat-1]!=1) j++;
}
if (j<=0||!screent(data[0].time,ts,ts,1.0)) continue; /* only 1 hz */
if (!pntpos(data,j,nav,opt,&sol,NULL,NULL,msg)) continue;
for (i=0;i<3;i++) ra[i]+=sol.rr[i];
n++;
}
if (n<=0) {
trace(1,"no average of base station position\n");
return 0;
}
for (i=0;i<3;i++) ra[i]/=n;
return 1;
}
/* long term correction ------------------------------------------------------*/
static int sbslongcorr(gtime_t time, int sat, const sbssat_t *sbssat,
double *drs, double *ddts)
{
const sbssatp_t *p;
double t;
int i;
trace(3,"sbslongcorr: sat=%2d\n",sat);
for (p=sbssat->sat;p<sbssat->sat+sbssat->nsat;p++) {
if (p->sat!=sat||p->lcorr.t0.time==0) continue;
t=timediff(time,p->lcorr.t0);
if (fabs(t)>MAXSBSAGEL) {
trace(2,"sbas long-term correction expired: %s sat=%2d t=%5.0f\n",
time_str(time,0),sat,t);
return 0;
}
for (i=0;i<3;i++) drs[i]=p->lcorr.dpos[i]+p->lcorr.dvel[i]*t;
*ddts=p->lcorr.daf0+p->lcorr.daf1*t;
trace(5,"sbslongcorr: sat=%2d drs=%7.2f%7.2f%7.2f ddts=%7.2f\n",
sat,drs[0],drs[1],drs[2],*ddts*CLIGHT);
return 1;
}
/* if sbas satellite without correction, no correction applied */
if (satsys(sat,NULL)==SYS_SBS) return 1;
trace(2,"no sbas long-term correction: %s sat=%2d\n",time_str(time,0),sat);
return 0;
}
/* psendorange with code bias correction -------------------------------------*/
static double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
int iter, const prcopt_t *opt, double *var)
{
const double *lam=nav->lam[obs->sat-1];
double PC,P1,P2,P1_P2,P1_C1,P2_C2,gamma;
int i=0,j=1,sys;
*var=0.0;
if (!(sys=satsys(obs->sat,NULL))) return 0.0;
/* L1-L2 for GPS/GLO/QZS, L1-L5 for GAL/SBS */
if (NFREQ>=3&&(sys&(SYS_GAL|SYS_SBS))) j=2;
if (NFREQ<2||lam[i]==0.0||lam[j]==0.0) return 0.0;
/* test snr mask */
if (iter>0) {
if (testsnr(0,i,azel[1],obs->SNR[i]*0.25,&opt->snrmask)) {
trace(4,"snr mask: %s sat=%2d el=%.1f snr=%.1f\n",
time_str(obs->time,0),obs->sat,azel[1]*R2D,obs->SNR[i]*0.25);
return 0.0;
}
if (opt->ionoopt==IONOOPT_IFLC) {
if (testsnr(0,j,azel[1],obs->SNR[j]*0.25,&opt->snrmask)) return 0.0;
}
}
gamma=SQR(lam[j])/SQR(lam[i]); /* f1^2/f2^2 */
P1=obs->P[i];
P2=obs->P[j];
P1_P2=nav->cbias[obs->sat-1][0];
P1_C1=nav->cbias[obs->sat-1][1];
P2_C2=nav->cbias[obs->sat-1][2];
/* if no P1-P2 DCB, use TGD instead */
if (P1_P2==0.0&&(sys&(SYS_GPS|SYS_GAL|SYS_QZS))) {
P1_P2=(1.0-gamma)*gettgd(obs->sat,nav);
}
if (opt->ionoopt==IONOOPT_IFLC) { /* dual-frequency */
if (P1==0.0||P2==0.0) return 0.0;
if (obs->code[i]==CODE_L1C) P1+=P1_C1; /* C1->P1 */
if (obs->code[j]==CODE_L2C) P2+=P2_C2; /* C2->P2 */
/* iono-free combination */
PC=(gamma*P1-P2)/(gamma-1.0);
}
else { /* single-frequency */
if (P1==0.0) return 0.0;
if (obs->code[i]==CODE_L1C) P1+=P1_C1; /* C1->P1 */
PC=P1-P1_P2/(1.0-gamma);
}
if (opt->sateph==EPHOPT_SBAS) PC-=P1_C1; /* sbas clock based C1 */
*var=SQR(ERR_CBIAS);
return PC;
}
/* average LC ----------------------------------------------------------------*/
static void average_LC(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav,
const double *azel)
{
ambc_t *amb;
double LC1,LC2,LC3,var1,var2,var3,sig;
int i,j,sat;
for (i=0; i<n; i++) {
sat=obs[i].sat;
if (azel[1+2*i]<rtk->opt.elmin) continue;
if (satsys(sat,NULL)!=SYS_GPS) continue;
/* triple-freq carrier and code LC (m) */
LC1=L_LC(1,-1, 0,obs[i].L)-P_LC(1,1,0,obs[i].P);
LC2=L_LC(0, 1,-1,obs[i].L)-P_LC(0,1,1,obs[i].P);
LC3=L_LC(1,-6, 5,obs[i].L)-P_LC(1,1,0,obs[i].P);
sig=sqrt(SQR(rtk->opt.err[1])+SQR(rtk->opt.err[2]/sin(azel[1+2*i])));
/* measurement noise variance (m) */
var1=var_LC(1,1,0,sig*rtk->opt.eratio[0]);
var2=var_LC(0,1,1,sig*rtk->opt.eratio[0]);
var3=var_LC(1,1,0,sig*rtk->opt.eratio[0]);
amb=rtk->ambc+sat-1;
if (rtk->ssat[sat-1].slip[0]||rtk->ssat[sat-1].slip[1]||
rtk->ssat[sat-1].slip[2]||amb->n[0]==0.0||
fabs(timediff(amb->epoch[0],obs[0].time))>MIN_ARC_GAP) {
amb->n[0]=amb->n[1]=amb->n[2]=0.0;
amb->LC[0]=amb->LC[1]=amb->LC[2]=0.0;
amb->LCv[0]=amb->LCv[1]=amb->LCv[2]=0.0;
amb->fixcnt=0;
for (j=0; j<MAXSAT; j++) amb->flags[j]=0;
}
/* averaging */
if (LC1) {
amb->n[0]+=1.0;
amb->LC [0]+=(LC1 -amb->LC [0])/amb->n[0];
amb->LCv[0]+=(var1-amb->LCv[0])/amb->n[0];
}
if (LC2) {
amb->n[1]+=1.0;
amb->LC [1]+=(LC2 -amb->LC [1])/amb->n[1];
amb->LCv[1]+=(var2-amb->LCv[1])/amb->n[1];
}
if (LC3) {
amb->n[2]+=1.0;
amb->LC [2]+=(LC3 -amb->LC [2])/amb->n[2];
amb->LCv[2]+=(var3-amb->LCv[2])/amb->n[2];
}
amb->epoch[0]=obs[0].time;
}
}
/* initialize tracking struct --------------------------------------------------
* set value to tracking struct
* args : int sat I satellite number
* int ctype I code type (CTYPE_L1CA...)
* double ctime I code period (s)
* sdrtrk_t *trk I/0 tracking struct
* return : int 0:okay -1:error
*-----------------------------------------------------------------------------*/
extern int inittrkstruct(int sat, int ctype, double ctime, sdrtrk_t *trk)
{
int i,prn;
int ctimems=(int)(ctime*1000);
int sys=satsys(sat,&prn);
/* set tracking parameter */
inittrkprmstruct(trk);
/* correlation point */
trk->corrn=sdrini.trkcorrn;
trk->corrp=(int *)malloc(sizeof(int)*trk->corrn);
for (i=0;i<trk->corrn;i++) {
trk->corrp[i]=sdrini.trkcorrd*(i+1);
if (trk->corrp[i]==sdrini.trkcorrp){
trk->ne=2*(i+1)-1; /* Early */
trk->nl=2*(i+1); /* Late */
}
}
/* correlation point for plot */
(trk->corrx=(double *)calloc(2*trk->corrn+1,sizeof(double)));
for (i=1;i<=trk->corrn;i++) {
trk->corrx[2*i-1]=-sdrini.trkcorrd*i;
trk->corrx[2*i ]= sdrini.trkcorrd*i;
}
trk->II =(double*)calloc(1+2*trk->corrn,sizeof(double));
trk->QQ =(double*)calloc(1+2*trk->corrn,sizeof(double));
trk->oldI =(double*)calloc(1+2*trk->corrn,sizeof(double));
trk->oldQ =(double*)calloc(1+2*trk->corrn,sizeof(double));
trk->sumI =(double*)calloc(1+2*trk->corrn,sizeof(double));
trk->sumQ =(double*)calloc(1+2*trk->corrn,sizeof(double));
trk->oldsumI=(double*)calloc(1+2*trk->corrn,sizeof(double));
trk->oldsumQ=(double*)calloc(1+2*trk->corrn,sizeof(double));
if (ctype==CTYPE_L1CA) trk->loop=LOOP_L1CA;
if (ctype==CTYPE_G1) trk->loop=LOOP_G1;
if (ctype==CTYPE_E1B) trk->loop=LOOP_E1B;
if (ctype==CTYPE_L1SAIF) trk->loop=LOOP_SBAS;
if (ctype==CTYPE_L1SBAS) trk->loop=LOOP_SBAS;
if (ctype==CTYPE_B1I&&prn>5 ) trk->loop=LOOP_B1I;
if (ctype==CTYPE_B1I&&prn<=5) trk->loop=LOOP_B1IG;
/* for LEX */
if (sys==SYS_QZS&&ctype==CTYPE_L1CA&&sdrini.nchL6) trk->loop=LOOP_LEX;
/* loop interval (ms) */
trk->loopms=trk->loop*ctimems;
if (!trk->II||!trk->QQ||!trk->oldI||!trk->oldQ||!trk->sumI||!trk->sumQ||
!trk->oldsumI||!trk->oldsumQ) {
SDRPRINTF("error: inittrkstruct memory allocation\n");
return -1;
}
return 0;
}
/* ionosphere and antenna corrected measurements -----------------------------*/
static int corrmeas(const obsd_t *obs, const nav_t *nav, const double *pos,
const double *azel, const prcopt_t *opt,
const double *dantr, const double *dants, double phw,
double *meas, double *var, int *brk)
{
const double *lam=nav->lam[obs->sat-1];
double ion=0.0,L1,P1,PC,P1_P2,P1_C1,vari,gamma;
int i;
trace(4,"corrmeas:\n");
meas[0]=meas[1]=var[0]=var[1]=0.0;
/* iono-free LC */
if (opt->ionoopt==IONOOPT_IFLC) {
return ifmeas(obs,nav,azel,opt,dantr,dants,phw,meas,var);
}
if (lam[0]==0.0||obs->L[0]==0.0||obs->P[0]==0.0) return 0;
if (testsnr(0,0,azel[1],obs->SNR[0]*0.25,&opt->snrmask)) return 0;
L1=obs->L[0]*lam[0];
P1=obs->P[0];
/* dcb correction */
gamma=SQR(lam[1]/lam[0]); /* f1^2/f2^2 */
P1_P2=nav->cbias[obs->sat-1][0];
P1_C1=nav->cbias[obs->sat-1][1];
if (P1_P2==0.0&&(satsys(obs->sat,NULL)&(SYS_GPS|SYS_GAL|SYS_QZS))) {
P1_P2=(1.0-gamma)*gettgd(obs->sat,nav);
}
if (obs->code[0]==CODE_L1C) P1+=P1_C1; /* C1->P1 */
PC=P1-P1_P2/(1.0-gamma); /* P1->PC */
/* slant ionospheric delay L1 (m) */
if (!corr_ion(obs->time,nav,obs->sat,pos,azel,opt->ionoopt,&ion,&vari,brk)) {
trace(2,"iono correction error: time=%s sat=%2d ionoopt=%d\n",
time_str(obs->time,2),obs->sat,opt->ionoopt);
return 0;
}
/* ionosphere and windup corrected phase and code */
meas[0]=L1+ion-lam[0]*phw;
meas[1]=PC-ion;
var[0]+=vari;
var[1]+=vari+SQR(ERR_CBIAS);
/* antenna phase center variation correction */
for (i=0;i<2;i++) {
if (dants) meas[i]-=dants[0];
if (dantr) meas[i]-=dantr[0];
}
return 1;
}
// get system color ---------------------------------------------------------
TColor __fastcall TPlot::SysColor(int sat)
{
switch (satsys(sat,NULL)) {
case SYS_GPS: return MColor[0][1];
case SYS_GLO: return MColor[0][2];
case SYS_GAL: return MColor[0][3];
case SYS_QZS: return MColor[0][4];
case SYS_CMP: return MColor[0][5];
case SYS_SBS: return MColor[0][6];
}
return MColor[0][0];
}
/* tle_pos() accuracy --------------------------------------------------------*/
static void utest3(void)
{
const char *file1="../data/tle/brdc3050.12*";
const char *file2="../data/tle/TLE_GNSS_20121101.txt";
const char *file3="../data/tle/igs17127.erp";
const double ep[6]={2012,10,31,0,0,0};
nav_t nav={0};
erp_t erp={0};
tle_t tle={0};
gtime_t time;
char sat[32];
double rs1[6],rs2[6],ds[6],dts[2],var;
int i,j,k,stat,svh;
readrnx(file1,0,"",NULL,&nav,NULL);
assert(nav.n>0);
stat=readerp(file3,&erp);
assert(stat);
stat=tle_read(file2,&tle);
assert(stat);
for (i=0;i<MAXSAT;i++) {
satno2id(i+1,sat);
fprintf(OUT,"SAT=%s\n",sat);
for (j=0;j<96;j++) {
time=timeadd(epoch2time(ep),900.0*j);
if (!satpos(time,time,i+1,EPHOPT_BRDC,&nav,rs1,dts,&var,&svh)) continue;
if (satsys(i+1,NULL)==SYS_QZS) svh&=0xFE;
if (svh) continue;
stat=tle_pos(time,sat,"","",&tle,&erp,rs2);
assert(stat);
for (k=0;k<3;k++) ds[k]=rs2[k]-rs1[k];
fprintf(OUT,"%6.0f %11.3f %11.3f %11.3f %11.3f\n",900.0*j,
ds[0]/1e3,ds[1]/1e3,ds[2]/1e3,norm(ds,3)/1e3);
assert(norm(ds,3)/1e3<300.0);
}
fprintf(OUT,"\n");
}
fprintf(OUT,"%s utest3 : OK\n",__FILE__);
}
/* satellite position and clock by broadcast ephemeris -----------------------*/
static int ephpos(gtime_t time, gtime_t teph, int sat, const nav_t *nav,
int iode, double *rs, double *dts, double *var, int *svh)
{
eph_t *eph;
geph_t *geph;
seph_t *seph;
double rst[3],dtst[1],tt=1E-3;
int i,sys;
trace(4,"ephpos : time=%s sat=%2d iode=%d\n",time_str(time,3),sat,iode);
sys=satsys(sat,NULL);
*svh=-1;
if (sys==SYS_GPS||sys==SYS_GAL||sys==SYS_QZS||sys==SYS_CMP) {
if (!(eph=seleph(teph,sat,iode,nav))) return 0;
eph2pos(time,eph,rs,dts,var);
time=timeadd(time,tt);
eph2pos(time,eph,rst,dtst,var);
*svh=eph->svh;
}
else if (sys==SYS_GLO) {
if (!(geph=selgeph(teph,sat,iode,nav))) return 0;
geph2pos(time,geph,rs,dts,var);
time=timeadd(time,tt);
geph2pos(time,geph,rst,dtst,var);
*svh=geph->svh;
}
else if (sys==SYS_SBS) {
if (!(seph=selseph(teph,sat,nav))) return 0;
seph2pos(time,seph,rs,dts,var);
time=timeadd(time,tt);
seph2pos(time,seph,rst,dtst,var);
*svh=seph->svh;
}
else return 0;
/* satellite velocity and clock drift by differential approx */
for (i=0;i<3;i++) rs[i+3]=(rst[i]-rs[i])/tt;
dts[1]=(dtst[0]-dts[0])/tt;
return 1;
}
/* internal decode stream function */
static void decode_stream(raw_t *raw, unsigned char buff[], int len)
{
/* local variable */
int i, j, status;
int sys, prn;
gtime_t utctimebj;
for (i=0; i<len; i++) {
status = decode_unicore(raw, buff[i]);
if (status <= 0) continue;
/* get beijing utc time */
utctimebj = gpst2utc(raw->time);
utctimebj.time += 8*3600;
/* get gsof_sat data */
if (status == 24 ) {
printf("%20s ==== azi & ele ====> %02d\n", time_str(utctimebj, 3),
raw->gsof.sat.num);
for(j=0; j<raw->gsof.sat.num; j++) {
printf(" %c%02d %8.3f %8.3f\n",
(raw->gsof.sat.data[j].sys == SYS_GPS)? 'G': 'C',
raw->gsof.sat.data[j].prn,
raw->gsof.sat.data[j].azi,
raw->gsof.sat.data[j].ele);
}
printf("-----------------------------------------------------\n");
}
/* get raw_sna data */
if (status == 1 ) {
printf("%20s ==== sna ====> %02d\n", time_str(utctimebj, 3),
raw->obs.n);
for(j=0; j<raw->obs.n; j++) {
sys = satsys(raw->obs.data[j].sat, &prn);
printf(" %c%02d %8.3f %8.3f\n",
(sys == SYS_GPS)? 'G': 'C',
prn,
raw->obs.data[j].SNR[0]/4.0,
raw->obs.data[j].SNR[1]/4.0);
}
printf("-----------------------------------------------------\n");
}
}
}
/* set antenna parameters ----------------------------------------------------*/
static void setpcv(gtime_t time, prcopt_t *popt, nav_t *nav, const pcvs_t *pcvs,
const pcvs_t *pcvr, const sta_t *sta)
{
pcv_t *pcv;
double pos[3],del[3];
int i,j,mode=PMODE_DGPS<=popt->mode&&popt->mode<=PMODE_FIXED;
char id[64];
/* set satellite antenna parameters */
for (i=0;i<MAXSAT;i++) {
if (!(satsys(i+1,NULL)&popt->navsys)) continue;
if (!(pcv=searchpcv(i+1,"",time,pcvs))) {
satno2id(i+1,id);
trace(2,"no satellite antenna pcv: %s\n",id);
continue;
}
nav->pcvs[i]=*pcv;
}
for (i=0;i<(mode?2:1);i++) {
if (!strcmp(popt->anttype[i],"*")) { /* set by station parameters */
strcpy(popt->anttype[i],sta[i].antdes);
if (sta[i].deltype==1) { /* xyz */
if (norm(sta[i].pos,3)>0.0) {
ecef2pos(sta[i].pos,pos);
ecef2enu(pos,sta[i].del,del);
for (j=0;j<3;j++) popt->antdel[i][j]=del[j];
}
}
else { /* enu */
for (j=0;j<3;j++) popt->antdel[i][j]=stas[i].del[j];
}
}
if (!(pcv=searchpcv(0,popt->anttype[i],time,pcvr))) {
trace(2,"no receiver antenna pcv: %s\n",popt->anttype[i]);
*popt->anttype[i]='\0';
continue;
}
strcpy(popt->anttype[i],pcv->type);
popt->pcvr[i]=*pcv;
}
}
// update satellite-list pull-down menu -------------------------------------
void __fastcall TPlot::UpdateSatList(void)
{
int i,j,sys,sysp=0,sat,smask[MAXSAT]={0};
char s[8];
trace(3,"UpdateSatList\n");
for (i=0;i<2;i++) for (j=0;j<SolStat[i].n;j++) {
sat=SolStat[i].data[j].sat;
if (1<=sat&&sat<=MAXSAT) smask[sat-1]=1;
}
for (j=0;j<Obs.n;j++) {
sat=Obs.data[j].sat;
if (1<=sat&&sat<=MAXSAT) smask[sat-1]=1;
}
SatList->Items->Clear();
SatList->Items->Add("ALL");
for (sat=1;sat<=MAXSAT;sat++) {
if (SatMask[sat-1]||!smask[sat-1]) continue;
if ((sys=satsys(sat,NULL))==sysp) continue;
switch ((sysp=sys)) {
case SYS_GPS: strcpy(s,"G"); break;
case SYS_GLO: strcpy(s,"R"); break;
case SYS_GAL: strcpy(s,"E"); break;
case SYS_QZS: strcpy(s,"J"); break;
case SYS_CMP: strcpy(s,"C"); break;
case SYS_SBS: strcpy(s,"S"); break;
}
SatList->Items->Add(s);
}
for (sat=1;sat<=MAXSAT;sat++) {
if (SatMask[sat-1]||!smask[sat-1]) continue;
satno2id(sat,s);
SatList->Items->Add(s);
}
SatList->ItemIndex=0;
UpdateSatSel();
}
/* generate rtcm nav data messages -------------------------------------------*/
static void gen_rtcm_nav(gtime_t time, rtcm_t *rtcm, const nav_t *nav,
int *index, const int *type, int n, FILE *fp)
{
int i,j,sat,prn;
for (i=index[0];i<nav->n;i++) {
if (time.time&&timediff(nav->eph[i].ttr,time)>-0.1) continue;
sat=nav->eph[i].sat;
rtcm->time=nav->eph[i].ttr;
rtcm->nav.eph[sat-1]=nav->eph[i];
rtcm->ephsat=sat;
for (j=0;j<n;j++) {
if (!is_nav(type[j])) continue;
if (!gen_rtcm3(rtcm,type[j],0)) continue;
if (fwrite(rtcm->buff,rtcm->nbyte,1,fp)<1) break;
}
index[0]=i+1;
}
for (i=index[1];i<nav->ng;i++) {
if (time.time&&timediff(nav->geph[i].tof,time)>-0.1) continue;
sat=nav->geph[i].sat;
if (satsys(sat,&prn)!=SYS_GLO) continue;
rtcm->time=nav->geph[i].tof;
rtcm->nav.geph[prn-1]=nav->geph[i];
rtcm->ephsat=sat;
for (j=0;j<n;j++) {
if (!is_gnav(type[j])) continue;
if (!gen_rtcm3(rtcm,type[j],0)) continue;
if (fwrite(rtcm->buff,rtcm->nbyte,1,fp)<1) break;
}
index[1]=i+1;
}
}
/* pseudorange residuals -----------------------------------------------------*/
static int rescode(int iter, const obsd_t *obs, int n, const double *rs,
const double *dts, const double *vare, const int *svh,
const nav_t *nav, const double *x, prcopt_t *opt,
double *v, double *H, double *var, double *azel, int *vsat,
double *resp, int *ns, rtk_t *rtk)
{
double r,dion,dtrp,vmeas,vion,vtrp,rr[3],pos[3],dtr,e[3],P;
int i, j, nv = 0, sys, mask[4] = { 0 }; double azl = 0;
for (i=0;i<3;i++) rr[i]=x[i]; dtr=x[3];
ecef2pos(rr,pos);
for (i=*ns=0;i<n&&i<MAXOBS;i++) {
vsat[i]=0; azel[i*2]=azel[1+i*2]=resp[i]=0.0;
if (obs[i].sat>32){ //added by yuan;
continue;
}
//���������ز�����α��Ͳ�����������ǵķ���;
if ((fabs(obs[i].L[0]) < 0.0001) || (fabs(obs[i].P[0]) < 0.0001)){
continue;
}
if (!(sys=satsys(obs[i].sat,NULL))) continue;
/* reject duplicated observation data */
if (i<n-1&&i<MAXOBS-1&&obs[i].sat==obs[i+1].sat) {
i++;
continue;
}
/* geometric distance/azimuth/elevation angle */
if ((r=geodist(rs+i*6,rr,e))<=0.0||
satazel(pos,e,azel+i*2)<opt->elmin) continue;
azl = satazel(pos, e, azel + i * 2);
/* psudorange with code bias correction */
if ((P=prange(obs+i,nav,azel+i*2,iter,opt,&vmeas))==0.0) continue;
/* excluded satellite? */
if (satexclude(obs[i].sat,svh[i],opt)) continue;
/* ionospheric corrections */
if (!ionocorr(obs[i].time,nav,obs[i].sat,pos,azel+i*2,
iter>0?opt->ionoopt:IONOOPT_BRDC,&dion,&vion)) continue;
/* tropospheric corrections */
if (!tropcorr(obs[i].time,nav,pos,azel+i*2,
iter>0?opt->tropopt:TROPOPT_SAAS,&dtrp,&vtrp)) {
continue;
}
/* pseudorange residual */
v[nv]=P-(r+dtr-CLIGHT*dts[i*2]+dion+dtrp);
/* design matrix */
for (j=0;j<NX;j++) H[j+nv*NX]=j<3?-e[j]:(j==3?1.0:0.0);
/* time system and receiver bias offset correction */
if (sys==SYS_GLO) {v[nv]-=x[4]; H[4+nv*NX]=1.0; mask[1]=1;}
else if (sys==SYS_GAL) {v[nv]-=x[5]; H[5+nv*NX]=1.0; mask[2]=1;}
else if (sys==SYS_CMP) {v[nv]-=x[6]; H[6+nv*NX]=1.0; mask[3]=1;}
else mask[0]=1;
vsat[i]=1; resp[i]=v[nv]; (*ns)++;
rtk->sat_[nv] = obs[i].sat; //added by yuan;
/* error variance */
if ((rtk->counter > 5) && (obs[i].mark_ < 4)){
var[nv++] = varerr(opt, azel[1 + i * 2], sys) + (4 - obs[i].mark_)*2 + vare[i] + vmeas + vion + vtrp; //varm:α���ز�����;vare:������������;vart:����������;
//var[nv - 1] = var[nv - 1] * (4-obs[i].mark_); //�������ʧ���������������Ŵ�;
}
else{
var[nv++] = varerr(opt, azel[1 + i * 2], sys) + vare[i] + vmeas + vion + vtrp; //varm:α���ز�����;vare:������������;vart:����������;
}
}
/* constraint to avoid rank-deficient */
for (i=0;i<4;i++) {
if (mask[i]) continue;
v[nv]=0.0;
for (j=0;j<NX;j++) H[j+nv*NX]=j==i+3?1.0:0.0;
var[nv++]=0.01;
}
return nv;
}
/* update rtk server struct --------------------------------------------------*/
static void updatesvr(rtksvr_t *svr, int ret, obs_t *obs, nav_t *nav, int sat,
sbsmsg_t *sbsmsg, int index, int iobs)
{
eph_t *eph1,*eph2,*eph3;
geph_t *geph1,*geph2,*geph3;
gtime_t tof;
double pos[3],del[3],dr[3];
int i,n=0,prn=0,sbssat=svr->rtk.opt.sbassatsel,sys=0,iode=0;
INIT_ZERO(del);
INIT_ZERO(dr);
INIT_ZERO(pos);
INIT_ZERO(prn);
tracet(4,"updatesvr: ret=%d sat=%2d index=%d\n",ret,sat,index);
if (ret==1) { /* observation data */
if (iobs<MAXOBSBUF) {
for (i=0;i<obs->n;i++) {
if (svr->rtk.opt.exsats[obs->data[i].sat-1]==1||
!(satsys(obs->data[i].sat,NULL)&svr->rtk.opt.navsys)) continue;
svr->obs[index][iobs].data[n]=obs->data[i];
svr->obs[index][iobs].data[n++].rcv=index+1;
}
svr->obs[index][iobs].n=n;
sortobs(&svr->obs[index][iobs]);
}
svr->nmsg[index][0]++;
}
else if (ret==2) { /* ephemeris */
if (satsys(sat,&prn)!=SYS_GLO) {
if (!svr->navsel||svr->navsel==index+1) {
eph1=nav->eph+sat-1;
eph2=svr->nav.eph+sat-1;
eph3=svr->nav.eph+sat-1+MAXSAT;
if (eph2->ttr.time==0||
(eph1->iode!=eph3->iode&&eph1->iode!=eph2->iode)||
(timediff(eph1->toe,eph3->toe)!=0.0&&
timediff(eph1->toe,eph2->toe)!=0.0)) {
*eph3=*eph2;
*eph2=*eph1;
updatenav(&svr->nav);
}
}
svr->nmsg[index][1]++;
}
else {
if (!svr->navsel||svr->navsel==index+1) {
geph1=nav->geph+prn-1;
geph2=svr->nav.geph+prn-1;
geph3=svr->nav.geph+prn-1+MAXPRNGLO;
if (geph2->tof.time==0||
(geph1->iode!=geph3->iode&&geph1->iode!=geph2->iode)) {
*geph3=*geph2;
*geph2=*geph1;
updatenav(&svr->nav);
updatefcn(svr);
}
}
svr->nmsg[index][6]++;
}
}
else if (ret==3) { /* sbas message */
if (sbsmsg&&(sbssat==sbsmsg->prn||sbssat==0)) {
if (svr->nsbs<MAXSBSMSG) {
svr->sbsmsg[svr->nsbs++]=*sbsmsg;
}
else {
for (i=0;i<MAXSBSMSG-1;i++) svr->sbsmsg[i]=svr->sbsmsg[i+1];
svr->sbsmsg[i]=*sbsmsg;
}
sbsupdatecorr(sbsmsg,&svr->nav);
}
svr->nmsg[index][3]++;
}
else if (ret==9) { /* ion/utc parameters */
if (svr->navsel==index||svr->navsel>=3) {
for (i=0;i<8;i++) svr->nav.ion_gps[i]=nav->ion_gps[i];
for (i=0;i<4;i++) svr->nav.utc_gps[i]=nav->utc_gps[i];
for (i=0;i<4;i++) svr->nav.ion_gal[i]=nav->ion_gal[i];
for (i=0;i<4;i++) svr->nav.utc_gal[i]=nav->utc_gal[i];
for (i=0;i<8;i++) svr->nav.ion_qzs[i]=nav->ion_qzs[i];
for (i=0;i<4;i++) svr->nav.utc_qzs[i]=nav->utc_qzs[i];
svr->nav.leaps=nav->leaps;
}
svr->nmsg[index][2]++;
}
else if (ret==5) { /* antenna postion parameters */
if (svr->rtk.opt.refpos==4&&index==1) {
for (i=0;i<3;i++) {
svr->rtk.rb[i]=svr->rtcm[1].sta.pos[i];
}
/* antenna delta */
ecef2pos(svr->rtk.rb,pos);
if (svr->rtcm[1].sta.deltype) { /* xyz */
del[2]=svr->rtcm[1].sta.hgt;
enu2ecef(pos,del,dr);
for (i=0;i<3;i++) {
svr->rtk.rb[i]+=svr->rtcm[1].sta.del[i]+dr[i];
}
}
else { /* enu */
enu2ecef(pos,svr->rtcm[1].sta.del,dr);
for (i=0;i<3;i++) {
svr->rtk.rb[i]+=dr[i];
}
}
}
svr->nmsg[index][4]++;
}
else if (ret==7) { /* dgps correction */
svr->nmsg[index][5]++;
}
else if (ret==10) { /* ssr message */
for (i=0;i<MAXSAT;i++) {
if (!svr->rtcm[index].ssr[i].update) continue;
svr->rtcm[index].ssr[i].update=0;
iode=svr->rtcm[index].ssr[i].iode;
sys=satsys(i+1,&prn);
/* check corresponding ephemeris exists */
if (sys==SYS_GPS||sys==SYS_GAL||sys==SYS_QZS) {
if (svr->nav.eph[i ].iode!=iode&&
svr->nav.eph[i+MAXSAT].iode!=iode) {
continue;
}
}
else if (sys==SYS_GLO) {
if (svr->nav.geph[prn-1 ].iode!=iode&&
svr->nav.geph[prn-1+MAXPRNGLO].iode!=iode) {
continue;
}
}
svr->nav.ssr[i]=svr->rtcm[index].ssr[i];
}
svr->nmsg[index][7]++;
}
else if (ret==31) { /* lex message */
lexupdatecorr(&svr->raw[index].lexmsg,&svr->nav,&tof);
svr->nmsg[index][8]++;
}
else if (ret==-1) { /* error */
svr->nmsg[index][9]++;
}
}
/* phase and code residuals --------------------------------------------------*/
static int res_ppp(int iter, const obsd_t *obs, int n, const double *rs,
const double *dts, const double *vare, const int *svh,
const nav_t *nav, const double *x, rtk_t *rtk, double *v,
double *H, double *R, double *azel)
{
prcopt_t *opt=&rtk->opt;
double r,rr[3],disp[3],pos[3],e[3],meas[2],dtdx[3],dantr[NFREQ]={0};
double dants[NFREQ]={0},var[MAXOBS*2],dtrp=0.0,vart=0.0,varm[2]={0};
int i,j,k,sat,sys,nv=0,nx=rtk->nx,brk,tideopt;
trace(3,"res_ppp : n=%d nx=%d\n",n,nx);
for (i=0;i<MAXSAT;i++) rtk->ssat[i].vsat[0]=0;
for (i=0;i<3;i++) rr[i]=x[i];
/* earth tides correction */
if (opt->tidecorr) {
tideopt=opt->tidecorr==1?1:7; /* 1:solid, 2:solid+otl+pole */
tidedisp(gpst2utc(obs[0].time),rr,tideopt,&nav->erp,opt->odisp[0],
disp);
for (i=0;i<3;i++) rr[i]+=disp[i];
}
ecef2pos(rr,pos);
for (i=0;i<n&&i<MAXOBS;i++) {
sat=obs[i].sat;
if (!(sys=satsys(sat,NULL))||!rtk->ssat[sat-1].vs) continue;
/* geometric distance/azimuth/elevation angle */
if ((r=geodist(rs+i*6,rr,e))<=0.0||
satazel(pos,e,azel+i*2)<opt->elmin) continue;
/* excluded satellite? */
if (satexclude(obs[i].sat,svh[i],opt)) continue;
/* tropospheric delay correction */
if (opt->tropopt==TROPOPT_SAAS) {
dtrp=tropmodel(obs[i].time,pos,azel+i*2,REL_HUMI);
vart=SQR(ERR_SAAS);
}
else if (opt->tropopt==TROPOPT_SBAS) {
dtrp=sbstropcorr(obs[i].time,pos,azel+i*2,&vart);
}
else if (opt->tropopt==TROPOPT_EST||opt->tropopt==TROPOPT_ESTG) {
dtrp=prectrop(obs[i].time,pos,azel+i*2,opt,x+IT(opt),dtdx,&vart);
}
else if (opt->tropopt==TROPOPT_COR||opt->tropopt==TROPOPT_CORG) {
dtrp=prectrop(obs[i].time,pos,azel+i*2,opt,x,dtdx,&vart);
}
/* satellite antenna model */
if (opt->posopt[0]) {
satantpcv(rs+i*6,rr,nav->pcvs+sat-1,dants);
}
/* receiver antenna model */
antmodel(opt->pcvr,opt->antdel[0],azel+i*2,opt->posopt[1],dantr);
/* phase windup correction */
if (opt->posopt[2]) {
windupcorr(rtk->sol.time,rs+i*6,rr,&rtk->ssat[sat-1].phw);
}
/* ionosphere and antenna phase corrected measurements */
if (!corrmeas(obs+i,nav,pos,azel+i*2,&rtk->opt,dantr,dants,
rtk->ssat[sat-1].phw,meas,varm,&brk)) {
continue;
}
/* satellite clock and tropospheric delay */
r+=-CLIGHT*dts[i*2]+dtrp;
trace(5,"sat=%2d azel=%6.1f %5.1f dtrp=%.3f dantr=%6.3f %6.3f dants=%6.3f %6.3f phw=%6.3f\n",
sat,azel[i*2]*R2D,azel[1+i*2]*R2D,dtrp,dantr[0],dantr[1],dants[0],
dants[1],rtk->ssat[sat-1].phw);
for (j=0;j<2;j++) { /* for phase and code */
if (meas[j]==0.0) continue;
for (k=0;k<nx;k++) H[k+nx*nv]=0.0;
v[nv]=meas[j]-r;
for (k=0;k<3;k++) H[k+nx*nv]=-e[k];
if (sys!=SYS_GLO) {
v[nv]-=x[IC(0,opt)];
H[IC(0,opt)+nx*nv]=1.0;
}
else {
v[nv]-=x[IC(1,opt)];
H[IC(1,opt)+nx*nv]=1.0;
}
if (opt->tropopt>=TROPOPT_EST) {
for (k=0;k<(opt->tropopt>=TROPOPT_ESTG?3:1);k++) {
H[IT(opt)+k+nx*nv]=dtdx[k];
}
}
if (j==0) {
v[nv]-=x[IB(obs[i].sat,opt)];
H[IB(obs[i].sat,opt)+nx*nv]=1.0;
}
var[nv]=varerr(obs[i].sat,sys,azel[1+i*2],j,opt)+varm[j]+vare[i]+vart;
if (j==0) rtk->ssat[sat-1].resc[0]=v[nv];
else rtk->ssat[sat-1].resp[0]=v[nv];
/* test innovation */
#if 0
if (opt->maxinno>0.0&&fabs(v[nv])>opt->maxinno) {
#else
if (opt->maxinno>0.0&&fabs(v[nv])>opt->maxinno&&sys!=SYS_GLO) {
#endif
trace(2,"ppp outlier rejected %s sat=%2d type=%d v=%.3f\n",
time_str(obs[i].time,0),sat,j,v[nv]);
rtk->ssat[sat-1].rejc[0]++;
continue;
}
if (j==0) rtk->ssat[sat-1].vsat[0]=1;
nv++;
}
}
for (i=0;i<nv;i++) for (j=0;j<nv;j++) {
R[i+j*nv]=i==j?var[i]:0.0;
}
trace(5,"x=\n"); tracemat(5,x, 1,nx,8,3);
trace(5,"v=\n"); tracemat(5,v, 1,nv,8,3);
trace(5,"H=\n"); tracemat(5,H,nx,nv,8,3);
trace(5,"R=\n"); tracemat(5,R,nv,nv,8,5);
return nv;
}
/* number of estimated states ------------------------------------------------*/
extern int pppnx(const prcopt_t *opt)
{
return NX(opt);
}
/* precise point positioning -------------------------------------------------*/
extern void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
{
const prcopt_t *opt=&rtk->opt;
double *rs,*dts,*var,*v,*H,*R,*azel,*xp,*Pp;
int i,nv,info,svh[MAXOBS],stat=SOLQ_SINGLE;
trace(3,"pppos : nx=%d n=%d\n",rtk->nx,n);
rs=mat(6,n); dts=mat(2,n); var=mat(1,n); azel=zeros(2,n);
for (i=0;i<MAXSAT;i++) rtk->ssat[i].fix[0]=0;
/* temporal update of states */
udstate_ppp(rtk,obs,n,nav);
trace(4,"x(0)="); tracemat(4,rtk->x,1,NR(opt),13,4);
/* satellite positions and clocks */
satposs(obs[0].time,obs,n,nav,rtk->opt.sateph,rs,dts,var,svh);
/* exclude measurements of eclipsing satellite */
if (rtk->opt.posopt[3]) {
testeclipse(obs,n,nav,rs);
}
xp=mat(rtk->nx,1); Pp=zeros(rtk->nx,rtk->nx);
matcpy(xp,rtk->x,rtk->nx,1);
nv=n*rtk->opt.nf*2; v=mat(nv,1); H=mat(rtk->nx,nv); R=mat(nv,nv);
for (i=0;i<rtk->opt.niter;i++) {
/* phase and code residuals */
if ((nv=res_ppp(i,obs,n,rs,dts,var,svh,nav,xp,rtk,v,H,R,azel))<=0) break;
/* measurement update */
matcpy(Pp,rtk->P,rtk->nx,rtk->nx);
if ((info=filter(xp,Pp,H,v,R,rtk->nx,nv))) {
trace(2,"ppp filter error %s info=%d\n",time_str(rtk->sol.time,0),
info);
break;
}
trace(4,"x(%d)=",i+1); tracemat(4,xp,1,NR(opt),13,4);
stat=SOLQ_PPP;
}
if (stat==SOLQ_PPP) {
/* postfit residuals */
res_ppp(1,obs,n,rs,dts,var,svh,nav,xp,rtk,v,H,R,azel);
/* update state and covariance matrix */
matcpy(rtk->x,xp,rtk->nx,1);
matcpy(rtk->P,Pp,rtk->nx,rtk->nx);
/* ambiguity resolution in ppp */
if (opt->modear==ARMODE_PPPAR||opt->modear==ARMODE_PPPAR_ILS) {
if (pppamb(rtk,obs,n,nav,azel)) stat=SOLQ_FIX;
}
/* update solution status */
rtk->sol.ns=0;
for (i=0;i<n&&i<MAXOBS;i++) {
if (!rtk->ssat[obs[i].sat-1].vsat[0]) continue;
rtk->ssat[obs[i].sat-1].lock[0]++;
rtk->ssat[obs[i].sat-1].outc[0]=0;
rtk->ssat[obs[i].sat-1].fix [0]=4;
rtk->sol.ns++;
}
rtk->sol.stat=stat;
for (i=0;i<3;i++) {
rtk->sol.rr[i]=rtk->x[i];
rtk->sol.qr[i]=(float)rtk->P[i+i*rtk->nx];
}
rtk->sol.qr[3]=(float)rtk->P[1];
rtk->sol.qr[4]=(float)rtk->P[2+rtk->nx];
rtk->sol.qr[5]=(float)rtk->P[2];
rtk->sol.dtr[0]=rtk->x[IC(0,opt)];
rtk->sol.dtr[1]=rtk->x[IC(1,opt)]-rtk->x[IC(0,opt)];
for (i=0;i<n&&i<MAXOBS;i++) {
rtk->ssat[obs[i].sat-1].snr[0]=MIN(obs[i].SNR[0],obs[i].SNR[1]);
}
for (i=0;i<MAXSAT;i++) {
if (rtk->ssat[i].slip[0]&3) rtk->ssat[i].slipc[0]++;
}
}
free(rs); free(dts); free(var); free(azel);
free(xp); free(Pp); free(v); free(H); free(R);
}
/* decode binex mesaage 0x7f-05: trimble netr8 obs data ----------------------*/
static unsigned char *decode_bnx_7f_05_obs(raw_t *raw, unsigned char *buff,
int sat, int nobs, obsd_t *data)
{
const unsigned char codes_gps[32]={
CODE_L1C ,CODE_L1C ,CODE_L1P ,CODE_L1W ,CODE_L1Y ,CODE_L1M , /* 0- 5 */
CODE_L1X ,CODE_L1N ,CODE_NONE,CODE_NONE,CODE_L2W ,CODE_L2C , /* 6-11 */
CODE_L2D ,CODE_L2S ,CODE_L2L ,CODE_L2X ,CODE_L2P ,CODE_L2W , /* 12-17 */
CODE_L2Y ,CODE_L2M ,CODE_L2N ,CODE_NONE,CODE_NONE,CODE_L5X , /* 18-23 */
CODE_L5I ,CODE_L5Q ,CODE_L5X /* 24-26 */
};
const unsigned char codes_glo[32]={
CODE_L1C ,CODE_L1C ,CODE_L1P ,CODE_NONE,CODE_NONE,CODE_NONE, /* 0- 5 */
CODE_NONE,CODE_NONE,CODE_NONE,CODE_NONE,CODE_L2C ,CODE_L2C , /* 6-11 */
CODE_L2P ,CODE_L3X ,CODE_L3I ,CODE_L3Q ,CODE_L3X /* 12-16 */
};
const unsigned char codes_gal[32]={
CODE_L1C ,CODE_L1A ,CODE_L1B ,CODE_L1C ,CODE_L1X ,CODE_L1Z , /* 0- 5 */
CODE_L5X ,CODE_L5I ,CODE_L5Q ,CODE_L5X ,CODE_L7X ,CODE_L7I , /* 6-11 */
CODE_L7Q ,CODE_L7X ,CODE_L8X ,CODE_L8I ,CODE_L8Q ,CODE_L8X , /* 12-17 */
CODE_L6X ,CODE_L6A ,CODE_L6B ,CODE_L6C ,CODE_L6X ,CODE_L6Z , /* 18-23 */
};
const unsigned char codes_sbs[32]={
CODE_L1C ,CODE_L1C ,CODE_NONE,CODE_NONE,CODE_NONE,CODE_NONE, /* 0- 5 */
CODE_L5X ,CODE_L5I ,CODE_L5Q ,CODE_L5X /* 6- 9 */
};
const unsigned char codes_cmp[32]={
CODE_L2X ,CODE_L2I ,CODE_L2Q ,CODE_L2X ,CODE_L7X ,CODE_L7I , /* 0- 5 */
CODE_L7Q ,CODE_L7X ,CODE_L6X ,CODE_L6I ,CODE_L6Q ,CODE_L6X , /* 6-11 */
CODE_L1X ,CODE_L1S ,CODE_L1L ,CODE_L1X /* 12-15 */
};
const unsigned char codes_qzs[32]={
CODE_L1C ,CODE_L1C ,CODE_L1S ,CODE_L1L ,CODE_L1X ,CODE_NONE, /* 0- 5 */
CODE_NONE,CODE_L2X ,CODE_L2S ,CODE_L2L ,CODE_L2X ,CODE_NONE, /* 6-11 */
CODE_NONE,CODE_L5X ,CODE_L5I ,CODE_L5Q ,CODE_L5X ,CODE_NONE, /* 12-17 */
CODE_NONE,CODE_L6X ,CODE_L6S ,CODE_L6L ,CODE_L6X ,CODE_NONE, /* 18-23 */
CODE_NONE,CODE_NONE,CODE_NONE,CODE_NONE,CODE_NONE,CODE_NONE, /* 24-29 */
CODE_L1Z /* 30-30 */
};
const unsigned char *codes=NULL;
double range[8],phase[8],cnr[8],dopp[8]={0},acc,wl;
unsigned char *p=buff;
unsigned char flag,flag0,flag1,flag2,flag3;
int i,j,k,sys,fcn=-10,code[8],slip[8],pri[8],freq[8],slipcnt[8]={0},mask[8]={0};
trace(5,"decode_bnx_7f_05_obs: sat=%2d nobs=%2d\n",sat,nobs);
sys=satsys(sat,NULL);
switch (sys) {
case SYS_GPS: codes=codes_gps; break;
case SYS_GLO: codes=codes_glo; break;
case SYS_GAL: codes=codes_gal; break;
case SYS_QZS: codes=codes_qzs; break;
case SYS_SBS: codes=codes_sbs; break;
case SYS_CMP: codes=codes_cmp; break;
}
for (i=0;i<nobs;i++) {
flag =getbitu(p,0,1);
slip[i]=getbitu(p,2,1);
code[i]=getbitu(p,3,5); p++;
flag0=flag1=flag2=flag3=0;
if (flag) flag0=U1(p++);
if (flag0&0x80) flag1=U1(p++);
if (flag1&0x80) flag2=U1(p++);
if (flag2&0x80) flag3=U1(p++);
if (flag1&0x80) fcn=getbits(&flag2,2,4);
acc=(flag0&0x20)?0.0001:0.00002; /* phase accuracy */
cnr[i]=U1(p++)*0.4;
if (i==0) {
cnr[i]+=getbits(p,0,2)*0.1;
range[i]=getbitu(p,2,32)*0.064+getbitu(p,34,6)*0.001; p+=5;
}
else if (flag0&0x40) {
cnr[i]+=getbits(p,0,2)*0.1;
range[i]=range[0]+getbits(p,4,20)*0.001; p+=3;
}
else {
range[i]=range[0]+getbits(p,0,16)*0.001; p+=2;
}
if (flag0&0x40) {
phase[i]=range[i]+getbits(p,0,24)*acc; p+=3;
}
else {
cnr[i]+=getbits(p,0,2)*0.1;
phase[i]=range[i]+getbits(p,2,22)*acc; p+=3;
}
if (flag0&0x04) {
dopp[i]=getbits(p,0,24)/256.0; p+=3;
}
if (flag0&0x18) {
slipcnt[i]=U2(p); p+=2;
}
else if (flag0&0x08) {
slipcnt[i]=U1(p); p+=1;
}
trace(5,"(%d) CODE=%2d S=%d F=%02X %02X %02X %02X\n",i+1,
code[i],slip,flag0,flag1,flag2,flag3);
trace(5,"(%d) P=%13.3f L=%13.3f D=%7.1f SNR=%4.1f SCNT=%2d\n",
i+1,range[i],phase[i],dopp[i],cnr[i],slipcnt[i]);
}
if (!codes) {
data->sat=0;
return p;
}
data->time=raw->time;
data->sat=sat;
/* get code priority */
for (i=0;i<nobs;i++) {
code2obs(codes[code[i]&0x3F],freq+i);
pri[i]=getcodepri(sys,codes[code[i]&0x3F],raw->opt);
}
for (i=0;i<NFREQ;i++) {
for (j=0,k=-1;j<nobs;j++) {
if (freq[j]==i+1&&(k<0||pri[j]>pri[k])) k=j;
}
if (k<0) {
data->P[i]=data->L[i]=0.0;
data->D[i]=0.0f;
data->SNR[i]=data->LLI[i]=0;
data->code[i]=CODE_NONE;
}
else {
wl=satwavelen(sat,i,&raw->nav);
if (sys==SYS_GLO&&fcn>=-7&&freq[k]<=2) {
wl=CLIGHT/(freq[k]==1?FREQ1_GLO+DFRQ1_GLO*fcn:
FREQ2_GLO+DFRQ2_GLO*fcn);
}
data->P[i]=range[k];
data->L[i]=wl<=0.0?0.0:phase[k]/wl;
data->D[i]=dopp[k];
data->SNR[i]=(unsigned char)(cnr[k]/0.25+0.5);
data->code[i]=codes[code[k]&0x3F];
data->LLI[i]=slip[k]?1:0;
mask[k]=1;
}
}
for (;i<NFREQ+NEXOBS;i++) {
for (k=0;k<nobs;k++) {
if (!mask[k]) break;
}
if (k>=nobs) {
data->P[i]=data->L[i]=0.0;
data->D[i]=0.0f;
data->SNR[i]=data->LLI[i]=0;
data->code[i]=CODE_NONE;
}
else {
wl=satwavelen(sat,freq[k]-1,&raw->nav);
if (sys==SYS_GLO&&fcn>=-7&&freq[k]<=2) {
wl=CLIGHT/(freq[k]==1?FREQ1_GLO+DFRQ1_GLO*fcn:
FREQ2_GLO+DFRQ2_GLO*fcn);
}
data->P[i]=range[k];
data->L[i]=wl<=0.0?0.0:phase[k]/wl;
data->D[i]=dopp[k];
data->SNR[i]=(unsigned char)(cnr[k]/0.25+0.5);
data->code[i]=codes[code[k]&0x3F];
data->LLI[i]=slip[k]?1:0;
mask[k]=1;
}
}
return p;
}
/* initialize receiver raw data control ----------------------------------------
* initialize receiver raw data control struct and reallocate obsevation and
* epheris buffer
* args : raw_t *raw IO receiver raw data control struct
* return : status (1:ok,0:memory allocation error)
*-----------------------------------------------------------------------------*/
extern int init_raw(raw_t *raw)
{
const double lam_glo[NFREQ]= {CLIGHT/FREQ1_GLO,CLIGHT/FREQ2_GLO};
gtime_t time0= {0};
obsd_t data0= {{0}};
eph_t eph0 = {0,-1,-1};
alm_t alm0 = {0,-1};
geph_t geph0= {0,-1};
seph_t seph0= {0};
sbsmsg_t sbsmsg0= {0};
lexmsg_t lexmsg0= {0};
int i,j,sys;
trace(3,"init_raw:\n");
raw->time=raw->tobs=time0;
raw->ephsat=0;
raw->sbsmsg=sbsmsg0;
raw->msgtype[0]='\0';
for (i=0; i<MAXSAT; i++) {
for (j=0; j<150 ; j++) raw->subfrm[i][j]=0;
for (j=0; j<NFREQ; j++) raw->lockt[i][j]=0.0;
for (j=0; j<NFREQ; j++) raw->halfc[i][j]=0;
raw->icpp[i]=raw->off[i]=raw->prCA[i]=raw->dpCA[i]=0.0;
}
for (i=0; i<MAXOBS; i++) raw->freqn[i]=0;
raw->lexmsg=lexmsg0;
raw->icpc=0.0;
raw->nbyte=raw->len=0;
raw->iod=raw->flag=raw->tbase=raw->outtype=0;
raw->tod=-1;
for (i=0; i<MAXRAWLEN; i++) raw->buff[i]=0;
raw->opt[0]='\0';
free_raw(raw);
if (!(raw->obs.data =(obsd_t *)malloc(sizeof(obsd_t)*MAXOBS))||
!(raw->obuf.data=(obsd_t *)malloc(sizeof(obsd_t)*MAXOBS))||
!(raw->nav.eph =(eph_t *)malloc(sizeof(eph_t )*MAXSAT))||
!(raw->nav.alm =(alm_t *)malloc(sizeof(alm_t )*MAXSAT))||
!(raw->nav.geph =(geph_t *)malloc(sizeof(geph_t)*NSATGLO))||
!(raw->nav.seph =(seph_t *)malloc(sizeof(seph_t)*NSATSBS*2))) {
free_raw(raw);
return 0;
}
raw->obs.n =0;
raw->obuf.n=0;
raw->nav.n =MAXSAT;
raw->nav.na=MAXSAT;
raw->nav.ng=NSATGLO;
raw->nav.ns=NSATSBS*2;
for (i=0; i<MAXOBS ; i++) raw->obs.data [i]=data0;
for (i=0; i<MAXOBS ; i++) raw->obuf.data[i]=data0;
for (i=0; i<MAXSAT ; i++) raw->nav.eph [i]=eph0;
for (i=0; i<MAXSAT ; i++) raw->nav.alm [i]=alm0;
for (i=0; i<NSATGLO ; i++) raw->nav.geph [i]=geph0;
for (i=0; i<NSATSBS*2; i++) raw->nav.seph [i]=seph0;
for (i=0; i<MAXSAT; i++) for (j=0; j<NFREQ; j++) {
if (!(sys=satsys(i+1,NULL))) continue;
raw->nav.lam[i][j]=sys==SYS_GLO?lam_glo[j]:lam[j];
}
return 1;
}
/* broadcast ephemeris to satellite position and clock bias --------------------
* compute satellite position and clock bias with broadcast ephemeris (gps,
* galileo, qzss)
* args : gtime_t time I time (gpst)
* eph_t *eph I broadcast ephemeris
* double *rs O satellite position (ecef) {x,y,z} (m)
* double *dts O satellite clock bias (s)
* double *var O satellite position and clock variance (m^2)
* return : none
* notes : see ref [1],[7],[8]
* satellite clock includes relativity correction without code bias
* (tgd or bgd)
*-----------------------------------------------------------------------------*/
extern void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts,
double *var)
{
double tk,M,E,Ek,sinE,cosE,u,r,i,O,sin2u,cos2u,x,y,sinO,cosO,cosi,mu,omge;
double xg,yg,zg,sino,coso;
int n,sys,prn;
trace(4,"eph2pos : time=%s sat=%2d\n",time_str(time,3),eph->sat);
if (eph->A<=0.0) {
rs[0]=rs[1]=rs[2]=*dts=*var=0.0;
return;
}
tk=timediff(time,eph->toe);
switch ((sys=satsys(eph->sat,&prn))) {
case SYS_GAL: mu=MU_GAL; omge=OMGE_GAL; break;
case SYS_CMP: mu=MU_CMP; omge=OMGE_CMP; break;
default: mu=MU_GPS; omge=OMGE; break;
}
M=eph->M0+(sqrt(mu/(eph->A*eph->A*eph->A))+eph->deln)*tk;
for (n=0,E=M,Ek=0.0;fabs(E-Ek)>RTOL_KEPLER&&n<MAX_ITER_KEPLER;n++) {
Ek=E; E-=(E-eph->e*sin(E)-M)/(1.0-eph->e*cos(E));
}
if (n>=MAX_ITER_KEPLER) {
trace(2,"kepler iteration overflow sat=%2d\n",eph->sat);
return;
}
sinE=sin(E); cosE=cos(E);
trace(4,"kepler: sat=%2d e=%8.5f n=%2d del=%10.3e\n",eph->sat,eph->e,n,E-Ek);
u=atan2(sqrt(1.0-eph->e*eph->e)*sinE,cosE-eph->e)+eph->omg;
r=eph->A*(1.0-eph->e*cosE);
i=eph->i0+eph->idot*tk;
sin2u=sin(2.0*u); cos2u=cos(2.0*u);
u+=eph->cus*sin2u+eph->cuc*cos2u;
r+=eph->crs*sin2u+eph->crc*cos2u;
i+=eph->cis*sin2u+eph->cic*cos2u;
x=r*cos(u); y=r*sin(u); cosi=cos(i);
/* beidou geo satellite (ref [9]) */
if (sys==SYS_CMP&&prn<=5) {
O=eph->OMG0+eph->OMGd*tk-omge*eph->toes;
sinO=sin(O); cosO=cos(O);
xg=x*cosO-y*cosi*sinO;
yg=x*sinO+y*cosi*cosO;
zg=y*sin(i);
sino=sin(omge*tk); coso=cos(omge*tk);
rs[0]= xg*coso+yg*sino*COS_5+zg*sino*SIN_5;
rs[1]=-xg*sino+yg*coso*COS_5+zg*coso*SIN_5;
rs[2]=-yg*SIN_5+zg*COS_5;
}
else {
O=eph->OMG0+(eph->OMGd-omge)*tk-omge*eph->toes;
sinO=sin(O); cosO=cos(O);
rs[0]=x*cosO-y*cosi*sinO;
rs[1]=x*sinO+y*cosi*cosO;
rs[2]=y*sin(i);
}
tk=timediff(time,eph->toc);
*dts=eph->f0+eph->f1*tk+eph->f2*tk*tk;
/* relativity correction */
*dts-=2.0*sqrt(mu*eph->A)*eph->e*sinE/SQR(CLIGHT);
/* position and clock error variance */
*var=var_uraeph(eph->sva);
}
/* convert nav message -------------------------------------------------------*/
static void convnav(FILE **ofp, rnxopt_t *opt, strfile_t *str, int *n)
{
gtime_t ts1,te1,ts2,te2;
int sys,prn;
trace(3,"convnav :\n");
ts1=opt->ts; if (ts1.time!=0) ts1=timeadd(ts1,-MAXDTOE);
te1=opt->te; if (te1.time!=0) te1=timeadd(te1, MAXDTOE);
ts2=opt->ts; if (ts2.time!=0) ts2=timeadd(ts2,-MAXDTOE_GLO);
te2=opt->te; if (te2.time!=0) te2=timeadd(te2, MAXDTOE_GLO);
sys=satsys(str->sat,&prn)&opt->navsys;
if (sys==SYS_GPS) {
if (opt->exsats[str->sat-1]==1||!screent(str->time,ts1,te1,0.0)) return;
if (ofp[1]) {
/* output rinex nav */
outrnxnavb(ofp[1],opt,str->nav->eph+str->sat-1);
n[1]++;
}
}
else if (sys==SYS_GLO) {
if (opt->exsats[str->sat-1]==1||!screent(str->time,ts2,te2,0.0)) return;
if (ofp[1]&&opt->rnxver>2.99) {
/* output rinex nav */
outrnxgnavb(ofp[1],opt,str->nav->geph+prn-1);
n[1]++;
}
if (ofp[2]&&opt->rnxver<=2.99) {
/* output rinex gnav */
outrnxgnavb(ofp[2],opt,str->nav->geph+prn-1);
n[2]++;
}
}
else if (sys==SYS_SBS) {
if (opt->exsats[str->sat-1]==1||!screent(str->time,ts1,te1,0.0)) return;
if (ofp[1]&&opt->rnxver>2.99) {
/* output rinex nav */
outrnxhnavb(ofp[1],opt,str->nav->seph+prn-MINPRNSBS);
n[1]++;
}
if (ofp[3]&&opt->rnxver<=2.99) {
/* output rinex hnav */
outrnxhnavb(ofp[3],opt,str->nav->seph+prn-MINPRNSBS);
n[3]++;
}
}
else if (sys==SYS_QZS) {
if (opt->exsats[str->sat-1]==1||!screent(str->time,ts1,te1,0.0)) return;
if (ofp[1]&&opt->rnxver>2.99) {
/* output rinex nav */
outrnxnavb(ofp[1],opt,str->nav->eph+str->sat-1);
n[1]++;
}
if (ofp[4]&&opt->rnxver<=2.99) {
/* output rinex qnav */
outrnxnavb(ofp[4],opt,str->nav->eph+str->sat-1);
n[4]++;
}
}
else if (sys==SYS_GAL) {
if (opt->exsats[str->sat-1]==1||!screent(str->time,ts1,te1,0.0)) return;
if (ofp[1]&&opt->rnxver>2.99) {
/* output rinex nav */
outrnxnavb(ofp[1],opt,str->nav->eph+str->sat-1);
n[1]++;
}
if (ofp[5]&&opt->rnxver<=2.99) {
/* output rinex lnav */
outrnxnavb(ofp[5],opt,str->nav->eph+str->sat-1);
n[5]++;
}
}
else if (sys==SYS_CMP) {
if (opt->exsats[str->sat-1]==1||!screent(str->time,ts1,te1,0.0)) return;
if (ofp[1]&&opt->rnxver>2.99) {
/* output rinex nav */
outrnxnavb(ofp[1],opt,str->nav->eph+str->sat-1);
n[1]++;
}
}
}
/* scan observation types ----------------------------------------------------*/
static int scan_obstype(int format, const char *file, rnxopt_t *opt,
gtime_t *time)
{
strfile_t *str;
unsigned char codes[6][33]={{0}};
unsigned char types[6][33]={{0}};
char msg[128];
int i,j,k,l,c=0,type,sys,abort=0,n[6]={0};
trace(3,"scan_obstype: file=%s, opt=%s\n",file,opt);
if (!(str=gen_strfile(format,opt->rcvopt,*time))) return 0;
if (!open_strfile(str,file)) {
free_strfile(str);
return 0;
}
/* scan codes in input file */
while ((type=input_strfile(str))>=-1) {
if (type!=1||str->obs->n<=0) continue;
if (!opt->ts.time||timediff(str->obs->data[0].time,opt->ts)>=0.001) {
for (i=0;i<str->obs->n;i++) {
sys=satsys(str->obs->data[i].sat,NULL);
for (l=0;navsys[l];l++) if (navsys[l]==sys) break;
if (!navsys[l]) continue;
for (j=0;j<NFREQ+NEXOBS;j++) {
if (!str->obs->data[i].code[j]) continue;
for (k=0;k<n[l];k++) {
if (codes[l][k]==str->obs->data[i].code[j]) break;
}
if (k>=n[l]&&n[l]<32) {
codes[l][n[l]++]=str->obs->data[i].code[j];
}
if (k<n[l]) {
if (str->obs->data[i].P[j]!=0.0) types[l][k]|=1;
if (str->obs->data[i].L[j]!=0.0) types[l][k]|=2;
if (str->obs->data[i].D[j]!=0.0) types[l][k]|=4;
if (str->obs->data[i].SNR[j]!=0) types[l][k]|=8;
}
}
}
if (!time->time) *time=str->obs->data[0].time;
}
if (opt->te.time&&timediff(str->obs->data[0].time,opt->te)>10.0) break;
if (++c%11) continue;
sprintf(msg,"scanning: %s %s%s%s%s%s%s",time_str(str->time,0),
n[0]?"G":"",n[1]?"R":"",n[2]?"E":"",n[3]?"J":"",
n[4]?"S":"",n[5]?"C":"");
if ((abort=showmsg(msg))) break;
}
showmsg("");
close_strfile(str);
free_strfile(str);
if (abort) {
trace(2,"aborted in scan\n");
return 0;
}
for (i=0;i<6;i++) for (j=0;j<n[i];j++) {
trace(2,"scan_obstype: sys=%d code=%s type=%d\n",i,code2obs(codes[i][j],NULL),types[i][j]);
}
for (i=0;i<6;i++) {
/* sort codes */
sort_codes(codes[i],types[i],n[i]);
/* set observation types in rinex option */
setopt_obstype(codes[i],types[i],i,opt);
for (j=0;j<n[i];j++) {
trace(3,"scan_obstype: sys=%d code=%s\n",i,code2obs(codes[i][j],NULL));
}
}
return 1;
}
/* pseudorange residuals -----------------------------------------------------*/
static int rescode(int iter, const obsd_t *obs, int n, const double *rs,
const double *dts, const double *vare, const int *svh,
const nav_t *nav, const double *x, const prcopt_t *opt,
double *v, double *H, double *var, double *azel, int *vsat,
double *resp, int *ns)
{
double r,dion,dtrp,vmeas,vion,vtrp,rr[3],pos[3],dtr,e[3],P,lam_L1;
int i,j,nv=0,sys,mask[4]={0};
trace(3,"resprng : n=%d\n",n);
for (i=0;i<3;i++) rr[i]=x[i]; dtr=x[3];
ecef2pos(rr,pos);
for (i=*ns=0;i<n&&i<MAXOBS;i++) {
vsat[i]=0; azel[i*2]=azel[1+i*2]=resp[i]=0.0;
if (!(sys=satsys(obs[i].sat,NULL))) continue;
/* reject duplicated observation data */
if (i<n-1&&i<MAXOBS-1&&obs[i].sat==obs[i+1].sat) {
trace(2,"duplicated observation data %s sat=%2d\n",
time_str(obs[i].time,3),obs[i].sat);
i++;
continue;
}
/* geometric distance/azimuth/elevation angle */
if ((r=geodist(rs+i*6,rr,e))<=0.0||
satazel(pos,e,azel+i*2)<opt->elmin) continue;
/* psudorange with code bias correction */
if ((P=prange(obs+i,nav,azel+i*2,iter,opt,&vmeas))==0.0) continue;
/* excluded satellite? */
if (satexclude(obs[i].sat,svh[i],opt)) continue;
/* ionospheric corrections */
if (!ionocorr(obs[i].time,nav,obs[i].sat,pos,azel+i*2,
iter>0?opt->ionoopt:IONOOPT_BRDC,&dion,&vion)) continue;
/* GPS-L1 -> L1/B1 */
if ((lam_L1=nav->lam[obs[i].sat-1][0])>0.0) {
dion*=SQR(lam_L1/lam_carr[0]);
}
/* tropospheric corrections */
if (!tropcorr(obs[i].time,nav,pos,azel+i*2,
iter>0?opt->tropopt:TROPOPT_SAAS,&dtrp,&vtrp)) {
continue;
}
/* pseudorange residual */
v[nv]=P-(r+dtr-CLIGHT*dts[i*2]+dion+dtrp);
/* design matrix */
for (j=0;j<NX;j++) H[j+nv*NX]=j<3?-e[j]:(j==3?1.0:0.0);
/* time system and receiver bias offset correction */
if (sys==SYS_GLO) {v[nv]-=x[4]; H[4+nv*NX]=1.0; mask[1]=1;}
else if (sys==SYS_GAL) {v[nv]-=x[5]; H[5+nv*NX]=1.0; mask[2]=1;}
else if (sys==SYS_CMP) {v[nv]-=x[6]; H[6+nv*NX]=1.0; mask[3]=1;}
else mask[0]=1;
vsat[i]=1; resp[i]=v[nv]; (*ns)++;
/* error variance */
var[nv++]=varerr(opt,azel[1+i*2],sys)+vare[i]+vmeas+vion+vtrp;
trace(4,"sat=%2d azel=%5.1f %4.1f res=%7.3f sig=%5.3f\n",obs[i].sat,
azel[i*2]*R2D,azel[1+i*2]*R2D,resp[i],sqrt(var[nv-1]));
}
/* constraint to avoid rank-deficient */
for (i=0;i<4;i++) {
if (mask[i]) continue;
v[nv]=0.0;
for (j=0;j<NX;j++) H[j+nv*NX]=j==i+3?1.0:0.0;
var[nv++]=0.01;
}
return nv;
}
/* satellite position and clock with ssr correction --------------------------*/
static int satpos_ssr(gtime_t time, gtime_t teph, int sat, const nav_t *nav,
int opt, double *rs, double *dts, double *var, int *svh)
{
const ssr_t *ssr;
eph_t *eph;
double t1,t2,t3,er[3],ea[3],ec[3],rc[3],deph[3],dclk,dant[3]={0},tk;
int i,sys;
trace(4,"satpos_ssr: time=%s sat=%2d\n",time_str(time,3),sat);
ssr=nav->ssr+sat-1;
if (!ssr->t0[0].time) {
trace(2,"no ssr orbit correction: %s sat=%2d\n",time_str(time,0),sat);
return 0;
}
if (!ssr->t0[1].time) {
trace(2,"no ssr clock correction: %s sat=%2d\n",time_str(time,0),sat);
return 0;
}
/* inconsistency between orbit and clock correction */
if (ssr->iod[0]!=ssr->iod[1]) {
trace(2,"inconsist ssr correction: %s sat=%2d iod=%d %d\n",
time_str(time,0),sat,ssr->iod[0],ssr->iod[1]);
*svh=-1;
return 0;
}
t1=timediff(time,ssr->t0[0]);
t2=timediff(time,ssr->t0[1]);
t3=timediff(time,ssr->t0[2]);
/* ssr orbit and clock correction (ref [4]) */
if (fabs(t1)>MAXAGESSR||fabs(t2)>MAXAGESSR) {
trace(2,"age of ssr error: %s sat=%2d t=%.0f %.0f\n",time_str(time,0),
sat,t1,t2);
*svh=-1;
return 0;
}
if (ssr->udi[0]>=1.0) t1-=ssr->udi[0]/2.0;
if (ssr->udi[1]>=1.0) t2-=ssr->udi[0]/2.0;
for (i=0;i<3;i++) deph[i]=ssr->deph[i]+ssr->ddeph[i]*t1;
dclk=ssr->dclk[0]+ssr->dclk[1]*t2+ssr->dclk[2]*t2*t2;
/* ssr highrate clock correction (ref [4]) */
if (ssr->iod[0]==ssr->iod[2]&&ssr->t0[2].time&&fabs(t3)<MAXAGESSR_HRCLK) {
dclk+=ssr->hrclk;
}
if (norm(deph,3)>MAXECORSSR||fabs(dclk)>MAXCCORSSR) {
trace(3,"invalid ssr correction: %s deph=%.1f dclk=%.1f\n",
time_str(time,0),norm(deph,3),dclk);
*svh=-1;
return 0;
}
/* satellite postion and clock by broadcast ephemeris */
if (!ephpos(time,teph,sat,nav,ssr->iode,rs,dts,var,svh)) return 0;
/* satellite clock for gps, galileo and qzss */
sys=satsys(sat,NULL);
if (sys==SYS_GPS||sys==SYS_GAL||sys==SYS_QZS||sys==SYS_CMP) {
if (!(eph=seleph(teph,sat,ssr->iode,nav))) return 0;
/* satellite clock by clock parameters */
tk=timediff(time,eph->toc);
dts[0]=eph->f0+eph->f1*tk+eph->f2*tk*tk;
dts[1]=eph->f1+2.0*eph->f2*tk;
/* relativity correction */
dts[0]-=2.0*dot(rs,rs+3,3)/CLIGHT/CLIGHT;
}
/* radial-along-cross directions in ecef */
if (!normv3(rs+3,ea)) return 0;
cross3(rs,rs+3,rc);
if (!normv3(rc,ec)) {
*svh=-1;
return 0;
}
cross3(ea,ec,er);
/* satellite antenna offset correction */
if (opt) {
satantoff(time,rs,sat,nav,dant);
}
for (i=0;i<3;i++) {
rs[i]+=-(er[i]*deph[0]+ea[i]*deph[1]+ec[i]*deph[2])+dant[i];
}
/* t_corr = t_sv - (dts(brdc) + dclk(ssr) / CLIGHT) (ref [10] eq.3.12-7) */
dts[0]+=dclk/CLIGHT;
/* variance by ssr ura */
*var=var_urassr(ssr->ura);
trace(5,"satpos_ssr: %s sat=%2d deph=%6.3f %6.3f %6.3f er=%6.3f %6.3f %6.3f dclk=%6.3f var=%6.3f\n",
time_str(time,2),sat,deph[0],deph[1],deph[2],er[0],er[1],er[2],dclk,*var);
return 1;
}